Stability Analysis of 3rd and Higher

Systems
• BIBO: Bounded Input Bounded Output systems.
• For LTI systems this requires that all poles of the closed-loop
transfer function lie in the left half of the complex plane.
• Determine if the transfer function has any poles either on
the imaginary axis or in the right half of the s-plane.

• Routh-Hurwitz criterion: Determine if any roots of a

polynomial lie outside the left half of the complex plane. It
does not find the exact locations of the roots.
 Some basic results:
• Second order system:

P2 ( s )  s 2  a1s  a0  ( s  p1 )( s  p2 )
 s 2  ( p1  p2 ) s  p1 p2

For third order system :

P2 ( s )  s 3  a2 s 2  a1s  a0  ( s  p1 )( s  p2 )( s  p3 )
 s 3  ( p1  p2  p) s 2  ( p1 p2  p1 p3  p2 p3 ) s  p1 p2 p3
• We see that the coefficients of the polynomial are given by:
an 1  negative of the sum of all roots.
an  2  sum of the products of all possible combinatio ns
of roots taken 2 at a time.
an 3  negative of the sum of the products of all
possible combinatio ns of roots taken 3 at a time.


• Suppose that all the roots are real and on the left half
plane, then all coefficients of the polynomial are positive.
• If all the roots are real and in the left half plane then no
coefficient can be zero.
• The only case for which a coefficient can be negative is
when there is at least one root in the right half plane.
• The above is also true for complex roots.
1) If any coefficient is equal to zero, then not all roots are in
the left half plane.
2) If any coefficient is negative, then at least one root is in
the right half plane.
3) The converse of rule 2) is not always true.

• Example:

P( s)  s 3  s 2  2s  8  ( s  2)( s 2  s  4)
all coefficien ts are positive. But two roots
(complex) are in the right half plane.
 Routh-Hurwitz Stability Criterion

• The Routh-Hurwitz is a necessary and sufficient criterion for

the stability of linear systems.

q( s)  s 3  s 2  2s  8  ( s  2)( s 2  s  4)
the system is unstable yet all coefficien ts are positive.
 • The Routh-Hurwitz criterion applies to a polynomial of the
form:The Routh-Hurwitz array:
P( s)  an s n  an 1s n 1  .......  a1s  a0
assume a0  0
n
s an an  2 an  4 an 6 ....
s n 1 an 1 an  3 an 5 an 7 ....
s n2 b1 b2 b3 b4 ....
s n 3 c1 c2 c3 c4 ....
. . .
1 an an  2 1 an an  4
. . . b1   b2   , .......
an 1 an 1 an 3 an 1 an 1 an 5
s2 k1 k2
s1 l1 1 an 1 an 3 1 an 1 an 5
c1   c2   , ......
s0 m1 b1 b1 b2 b1 b1 b3
• Columns of s are only for accounting.
• The b row is calculated from the two rows above it.
• The c row is calculated from the two rows directly above it.
• Etc…
• The equations for the coefficients of the array are:

1 an an  2 1 an an  4
b1   b2   , .......
an 1 an 1 an 3 an 1 an 1 an 5

1 an 1 an 3 1 an 1 an 5
c1   c2   , ......
b1 b1 b2 b1 b1 b3

• Note: the determinant in the expression for the ith

coefficient in a row is formed from the first column and the
(i+1)th column of the two preceding rows.
• The number of polynomial roots in the right half plane is equal to the
number of sign changes in the first column of the array.

• Example:
P( s )  s 3  s 2  2 s  8  ( s  2)( s 2  s  4)
The Routh array is :
s3 1 2
s2 1 8
s1 -6
s0 8
• Since there are two sign changes on the first column, there are two roots
of the polynomial in the right half plane: system is unstable.

• Note: The Routh-Hurwitz criterion shows only the stability of the

system, it does not give the locations of the roots, therefore no
information about the transient response of a stable system is derived
from the R-H criterion. Also it gives no information about the steady
state response. Obviously other analysis techniques in addition to the R-
H criterion are needed.
Design of Control System
• Stability condition of a linear system
– The roots of its characteristic equation
(CE) must all be located in the left-half s-
plane (LHP).
• Methods of determining stability
– Routh-Hurwitz criterion
• Test whether any of the roots of CE lie in RHP
• Indicate the number of roots that lie on the jw-
axis and in RHP
• Methods of determining stability
– Bode diagram
• Plot the magnitude of the loop transfer function
G(jw)H(jw) in dB and the phase in degrees
versus frequency w
• Closed-loop stability can be determined by
observing the behavior of the plots (gain margin,
phase margin)
• Control system design technique
– Root-locus design
• A graphical method
• Investigate how the roots of the CE of a LTI
system move when one or more parameters vary
– Frequency-response design
• A graphical method
• Provide information different from what we get
from root-locus analysis
• Can be applied to high-order system
• Can use the data from the measurements of a
physical system without deriving its
mathematical model
• State Space Analysis and Design
• Options available to change the
performance of a control system
– Vary the gain K

– Add poles

– Add zeros
PID Control
The Characteristics of P, I, and D controllers (in isolation)
A proportional controller (Kp) will have the effect of
1.Reducing the rise time
 but never eliminate, the steady-state error.

An integral control (Ki) will have the effect of

Eliminating the steady-state error,
but it may make the transient response worse.

A derivative control (Kd) will have the effect of

increasing the stability of the system,
 reducing the overshoot,
and improving the transient response.
Proportional Control
By only employing proportional control, a steady state
error occurs.

Proportional and Integral Control (PI)

The response becomes more oscillatory and needs longer
to settle, the error disappears.
Proportional and Derivative Control (PD)
The damping in system will improve.
Proportional, Integral and Derivative Control (PID)
All design specifications can be reached.
The Characteristics of P, I, and D controllers

CL RESPONSE RISE TIME OVERSHOOT SETTLING TIME S-S ERROR

Kp Decrease Increase Small Change Decrease

Ki Decrease Increase Increase Eliminate

Kd Small Change Decrease Decrease Small Change

Tips for Designing a PID Controller

1. Obtain an open-loop response and determine what needs to be

improved
2. Add a proportional control to improve the rise time
3. Add a derivative control to improve the overshoot
4. Add an integral control to eliminate the steady-state error
5. Adjust each of Kp, Ki, and Kd until you obtain a desired overall
response.

Lastly, please keep in mind that you do not need to implement all
three controllers (proportional, derivative, and integral) into a single
system, if not necessary. For example, if a PI controller gives a good
enough response (like the above example), then you don't need to
implement derivative controller to the system. Keep the controller as
simple as possible.
Open-Loop Control - Example

1
G( s )
2
s  10s  20

num=1;
den=[1 10 20];
step(num,den)
 Proportional Control - Example

The proportional controller (Kp) reduces the rise time, increases the
overshoot, and reduces the steady-state error.
Kp
T( s )
MATLAB Example 2
s  10 s  ( 20  Kp)
Step Response
From: U(1)
1.4

Kp=300; 1.2
Step Response
From: U(1)
1

num=[Kp]; 1
0.9

0.8
Amplitude

0.8
To: Y(1)

den=[1 10 20+Kp]; 0.7

0.6
0.6

Amplitude
t=0:0.01:2;

To: Y(1)
0.4 0.5

step(num,den,t) 0.2
K=300 0.4
K=100
0.3

0
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2 0.2

Time (sec.)
0.1

0
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2

Time (sec.)
 Step Response
From: U(1)
1.4

1.2

Amplitude
0.8

To: Y(1)
0.6

0.4 Kp=300
0.2 Kd=10
0
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2

Time (sec.)

Step Response
From: U(1)
1

0.9

0.8

0.7

0.6
Amplitude

To: Y(1)
0.5

0.4 Kd=20
0.3

0.2

0.1

0
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2

Time (sec.)
 Proportional - Derivative - Example

The derivative controller (Kd) reduces both the overshoot and the
settling time. Kd s  Kp
Step Response
T( s )
2
s  ( 10  Kd)  s  ( 20  Kp)
From: U(1)
1.4

1.2

1
Amplitude

0.8
To: Y(1)

0.6

0.4
Kd=10
0.2 Step Response

Kp=300; 1
From: U(1)

0
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2 0.9

Kd=10; Time (sec.)

0.8

0.7

num=[Kd Kp]; 0.6

Amplitude

To: Y(1)
0.5
den=[1 10+Kd 20+Kp]; 0.4

t=0:0.01:2; 0.3

0.2
Kd=20
step(num,den,t) 0.1

0
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2

Time (sec.)
Proportional - Integral - Example

The integral controller (Ki) decreases the rise time, increases both
the overshoot and the settling time, and eliminates the steady-state
Step Response

error 1.4

Kp s  Ki
From: U(1)

1.2
T( s )
3 2
1
s  10 s  ( 20  Kp)  s  K
Amplitude

0.8
To: Y(1)

0.6

0.4

Kp=30; Step Response

From: U(1)
0.2 1.4

Ki=70; 0
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2
1.2

Time (sec.)
1

num=[Kp Ki];
Ki=70
Amplitude
0.8

To: Y(1)
den=[1 10 20+Kp Ki]; 0.6

0.4

t=0:0.01:2; 0.2 Ki=100

0
step(num,den,t) 0 0.2 0.4 0.6 0.8 1

Time (sec.)
1.2 1.4 1.6 1.8 2
Proportional-Integral-Derivative (PID) Control
R( s) E ( s) U c ( s)
KI Y ( s)
KP   KD s Plant
s
PID controller

Proportional (P) control: K P

KI
Proportional-Integral (PI) control: KP 
s
Proportional-Derivative (PD) control: K P  K D s
Proportional-Integral +Derivative
control:
KI  1 
Gc ( s )  K P   K D s  K P 1   TD s 
s  TI s 
More than half of the industrial controllers in
use today utilize PID or modified PID control
schemes.

When the mathematical model of the plant is

unknown and therefore analytical design cannot
be used, PID control proves to be most useful.

Many different types of tuning rules have been

developed to adjust the parameters of PID
controllers on-site.
 Ziegler-Nichols Rules for Tuning PID
Controllers
KI  1 
Gc ( s )  K P   K D s  K P 1   TD s 
s  TI s 
Ziegler and Nichols proposed rules for determining
values of the proportional gain Kp, integral time Ti and
derivative time Td based on the transient response of
a given plant.

There are two methods called Ziegler-Nichols tuning

rules: the first method and the second method.
First method.
--Obtain the response of the plant to a unit-step input
--If the plant involves neither integrator nor dominant
complex-conjugate poles, then it step response exhibits an
S-shape curve , the first method can be applied.

unit-step input S-shape response

Plant

y (t ) The S-shape curve

may be
characterized by
two constants:
Delay time L and
Time constant T
0
L T t
First method. KI  1 
Gc ( s )  K P   K D s  K P 1   TD s 
s  TI s 
Table I
Type of
Controller KP TI TD

P T
 0
L
PI T L
0.9 0
L 0.3
PID T
1.2 2L 0.5L
L
Second method.
Set K I  K D  0 and use the proportional control only
Increase K P from 0 to ∞ to a critical value K cr at which
the output first exhibits sustained oscillations
If the output does not exhibit sustained oscillations for
whatever value K P may take, then this method does not
apply.

R( s) E ( s) U c ( s) Y ( s)
KP Plant

KI  1 
Gc ( s )  K P   K D s  K P 1   TD s 
s  TI s 
Second method.
y (t )

Pcr

0
t
Second method.
Table II
Type of
Controller KP TI TD

P
0.5K cr  0

PI 1
0.45K cr Pcr 0
1.2
PID
0.6 K cr 0.5Pcr 0.125Pcr
Comments
Ziegler-Nichols tuning rules have been widely
used to tune PID controllers in process control
systems where the plant dynamics are not
precisely known.

If the plant dynamics are known, many analytical

and graphical approaches to the design of PID
controllers are available, in addition to Ziegler-
Nichols tuning rules
Example Consider the following control system

R( s) E ( s) U c ( s) 1 Y ( s)
Gc ( s )
s( s  1)( s  5)
PID controller Plant

Design a PID controller to make the maximum overshoot

of the system to be approximately 25% or less.

Solution. We start design the PID controller by applying

Ziegler-Nichols rules.
Here the transfer function of the plant is known, we can
use analytical method instead of experimental method.
 R( s) E ( s) U c ( s) 1 Y ( s)
Gc ( s )
s( s  1)( s  5)
PID controller Plant

The PID controller has the transfer function

KI  1 
Gc ( s )  K P   K D s  K P 1   TD s 
s  TI s 
Since the plant has a integrator, we use the second method.

By setting K I  K D  0, we obtain the closed-loop TF:

Y ( s) KP

R( s ) s( s  1)( s  5)  K P
 1
s( s  1)( s  5)
Step Response
6000

5000

4000
Amplitude

3000

2000

1000

0
0 0.5 1 1.5 2 2.5 3
4
Time (sec) x 10
 R( s) E ( s) U c ( s) 1 Y ( s)
Gc ( s )
s( s  1)( s  5)
PID controller Plant

The value of Kp that makes the system marginally stable so

that sustained oscillation occurs can be obtained by use of
Routh’s stability criterion.
The CE of the closed-loop The Routh’s array
system is
s3 1 5
s  6s  5s  K P  0
3 2
s2 6 KP
When Kp=30, the closed-loop 30  K P
system is marginally stable. Thus s1
6
the critical gain K  30
cr s0 Kp
 R( s) E ( s) U c ( s) 1 Y ( s)
Gc ( s )
s( s  1)( s  5)
PID controller Plant

With Kp set to Ko(=30), the CE becomes

s 3  6s 2  5s  30  0
To find the frequency of the sustained oscillation, we
substitute s=jw into the CE as follows:
( j)3  6( j)2  5( j)  30  0
or 6(5   2 )  j(5   2 )  0  5
Hence the period of the sustained oscillation is
2 2
Pcr    2.8099
 5
 R( s) E ( s) U c ( s) 1 Y ( s)
Gc ( s )
s( s  1)( s  5)
PID controller Plant

With Table II, we determine the parameters of the PID

controller as follows: Kcr=30 and Ti=2.8
K P  0.6 K cr  18
TI  0.5Pcr  1.405
TD  0.125Pcr  0.35124

The transfer function of the PID controller is thus

 6.3223  s  1.4235
2
 1
Gc ( s )  18  1   0.35124 s  
 1.405s  s
 R( s) E ( s) U c ( s) 1 Y ( s)
Gc ( s )
s( s  1)( s  5)
PID controller Plant

The closed-loop transfer function with the PID controller is

Y ( s) 6.3223s 2  18s  12.811

 4
R( s ) s  6s 3  11.3223s 2  18s  12.811
Now let us examine the unit-step response of the closed-
loop system to see if it exhibits approximately 25%
maximum overshoot.
>>num = [6.3223 18 12.811];
>>den = [1 6 11.3223 18 12.811];
>>step(num,den)
>>grid
 Unit-Step Response
1.8

1.6

1.4

1.2
Amplitude

0.8

0.6

0.4

0.2

0
0 5 10 15
Time (sec)

The maximum overshoot is about 62% and is excessive

with respect to the requirement of 25%.
The amount of maximum overshoot can be reduced by fine
tuning the parameters of the PID controller.
Such fine tuning can be made on the computer.
The parameters of the PID controller after fine tuning
K P  39.42
TI  3.077
TD  0.7692
Compared with the parameters obtained by Ziegler-
Nichols’ second method
K P  0.6 K cr  18
TI  0.5Pcr  1.405
TD  0.125Pcr  0.35124
The new ones are approximately twice the values suggested
by Ziegler-Nichols’s method.
Note that the Ziegler-Nichols’ tuning rule has provided a
starting point for fine tuning.
 Assignment:-
1. Select any 4th or higher order stable system.
2. Draw its open loop step response.
3. Design PID using Ziegler-Nichol’s Method to improve
its performance specifications e.g. settling time, over
shoot and steady state errors etc.
4. Compare open and close loop response.

R( s) E ( s) U c ( s) 1 Y ( s)
Gc ( s )
s( s  1)( s  5)
PID controller Plant